Omron CS1W-MCH71 MOTION CONTROL UNIT - 09-2004 Manual page 623

Motion Task-related Alarm Codes
Name Error log
Error Detail
code code
Control mode 0372h 2014h 2014h • A position control command (MOVE, etc.)
error -
0379h
--- 2015h 2015h ---
Same axis 2016h 2016h • Multiple commands were executed on the
specification
multiplicity
--- 2017h 2017h ---
Synchronous 2018h 2018h The axis that is specified as a slave axis has
slave axis
specification
error
600
Alarm Cause and remedy
code
or speed control command (SPEED) was
executed during Torque control
(TORQUE). Correct the program so that
position control commands or speed con-
trol command will not be executed during
TORQUE execution.
• SPEED or TORQUE was executed during
position control command execution. Cor-
rect the program so that SPEED or
TORQUE will not be executed during posi-
tion control command execution.
• Position control commands other than
MOVE was executed during SPEED com-
mand execution. Correct the program so
that any position control command other
than MOVE will not be executed during
SPEED command execution.
same one axis using parallel branches. (Or
when a main program is trying to use the
axis being used by the subprogram called
by the main program, etc.) Correct the pro-
gram so that multiple commands are not
executed on one axis from multiple rows in
the program.
• Axis movement command was executed
on the axis, which is in synchronous exe-
cution as a slave axis. Correct the program
so that any axis movement command will
not be executed during synchronization.
• The axis, which was specified as a slave
axis has been a slave axis of the different
type of synchronous command. Correct
the program so that any slave axis is not
shared between commands.
• When a command requiring a latch input
was executed, and the latch range param-
eter is being written, another latch-requir-
ing command was executed on the same
axis. Correct the program so that any
latch-requiring command will not be exe-
cuted on the same axis, or the timings do
not overlap.
already been used as the master axis.
When an axis is to be operated as a slave
axis of an axis and the slave axis is to be
used as a master axis of another axis, the
program (to change the order of specifica-
tion) has to be arranged so that the axis is
specified as a slave axis of an axis first, and
then as a master of another axis.
Section 11-5
Timing Rank Reset
When Deceler- Enabled
TORQUE/ ation
Position stop
control
command/
SPEED is
executed.
--- --- ---
When a Deceler- Enable
program is ation
executed. stop
--- --- ---
When syn- Deceler- Enabled
chronous ation
command stop
is executed.